@inproceedings{2fe5fc1b08a34e058d6ec49f60fff860,
title = "Design and control of linkage exoskeletons in wheelchair",
abstract = "In this paper, a mechanical design and control method of a leg-exoskeleton are proposed for a new wheelchair for persons with problems in lower limbs. For the mechanical design, a pedal-cycling actuation method is proposed with crank-rocker mechanism driven by one motor with a simple mechanical structure to guarantee the user{\textquoteright}s safety. Regarding the master-slave control, the user{\textquoteright}s motion intention is detected by force sensors on pedals and it is used as the control message for the leg-exoskeleton motion and wheelchair motion. Experiments are discussed to show the characteristic force during the pedalling action. The experiment results give a good inspiration to optimize the control method.",
keywords = "Experiment, Leg exoskeletons, Master-slave control, Pedal-actuated wheelchair",
author = "Gao Huang and Marco Ceccarelli and Zhang, {Weimin M.} and Fei Meng and Tao Sun and Qiang Huang",
note = "Publisher Copyright: {\textcopyright} 2018, Springer International Publishing AG.; 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 ; Conference date: 21-06-2017 Through 23-06-2017",
year = "2018",
doi = "10.1007/978-3-319-61276-8_91",
language = "English",
isbn = "9783319612751",
series = "Mechanisms and Machine Science",
publisher = "Springer Netherlands",
pages = "862--869",
editor = "Carlo Ferraresi and Giuseppe Quaglia",
booktitle = "Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017",
address = "Netherlands",
}